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Copter: use new handle_mission_request() 

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2014-03-18 13:54:36 +11:00 committed by Randy Mackay
parent c7c8a36620
commit 85725de9cb
1 changed files with 1 additions and 52 deletions
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53
ArduCopter/GCS_Mavlink.pde
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@ -1425,58 +1425,7 @@ mission_item_receive_failed:
// read an individual command from EEPROM and send it to the GCS // read an individual command from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST: // MAV ID: 40 case MAVLINK_MSG_ID_MISSION_REQUEST: // MAV ID: 40
{ {
// decode handle_mission_request(mission, msg, cmd);
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, packet.target_component)) {
break;
}
// retrieve mission from eeprom
if (!mission.read_cmd_from_storage(packet.seq, cmd)) {
result = MAV_MISSION_ERROR;
goto mission_item_send_failed;
}
// convert mission command to mavlink mission item packet
mavlink_mission_item_t ret_packet;
memset(&ret_packet, 0, sizeof(ret_packet));
if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet)) {
result = MAV_MISSION_ERROR;
goto mission_item_send_failed;
}
// set packet's current field to 1 if this is the command being executed
if (cmd.id == (uint16_t)mission.get_current_nav_cmd().index) {
ret_packet.current = 1;
}else{
ret_packet.current = 0;
}
// set auto continue to 1
ret_packet.autocontinue = 1;
mavlink_msg_mission_item_send(chan,msg->sysid,
msg->compid,
packet.seq,
ret_packet.frame,
cmd.id,
ret_packet.current,
ret_packet.autocontinue,
ret_packet.param1,
ret_packet.param2,
ret_packet.param3,
ret_packet.param4,
ret_packet.x,
ret_packet.y,
ret_packet.z);
break;
mission_item_send_failed:
// send failure message
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, result);
break; break;
} }